Three-Dimensional Stress

Analysis

10/14/08 3D Problems 1
 σy

τ xy
τ yz
τ xy

τ zy
σx
τ zx τ xz
σz

Three-dimensional stress on an element.

10/14/08 3D Problems 2
 Equations of Equilibrium
∂σ x ∂τ xy ∂τ xz
+ + + Xb = 0
∂x ∂y ∂z
∂τ xy ∂σ y ∂τ yz
+ + + Yb = 0
∂x ∂y ∂z
∂τ xz ∂τ yz ∂σ z
+ + + Zb = 0
∂x ∂y ∂z
10/14/08 3D Problems 3
 Strain Displacement
(u,v,w) are the x, y and z components of
displacement.
∂u ∂u ∂ v
εx = γ xy = +
∂x ∂y ∂x
∂v ∂u ∂ w
εy = γ xz = +
∂y ∂z ∂x
∂w ∂w ∂ v
εz = γ yz = +
∂z ∂y ∂z
10/14/08 3D Problems 4
 Stress-Strain Relationships

σx  1 − ν ν ν 0 0 0  ε x 
σ   ν 1− ν ν 0 0 0  ε y 
 y   
σz  E  ν ν 1− ν 0 0 0  ε z 
 =  (1− 2 ν )  
 τ xy  (1 + ν )(1 − 2 ν )  0 0 0 2 0 0   γ xy 
 τ yz   0 0 0 0
(1− 2 ν )
2 0   γ yz 
   (1− 2 ν )   
 τ zx   0 0 0 0 0 2   γ zx 

10/14/08 3D Problems 5
3D Stress-Strain Matrix
1 − ν ν ν 0 0 0 
 ν 1− ν ν 0 0 0 
 
E  ν ν 1− ν 0 0 0 
[ D] =  (1− 2 ν ) 
(1 + ν )(1 − 2 ν )  0 0 0 2 0 0 
 0 0 0 0
(1− 2 ν )
2 0 
 (1− 2 ν ) 
 0 0 0 0 0 2 

E
Note: G =
2(1 + ν )

10/14/08 3D Problems 6
Step 1 - Select the Element
Type
Discretize Body into Four-Noded
Tetrahedral Elements.
Three degrees-of-freedom per node.
These are x , y, and z displacements.
ui - x displacement at ith node.
vi - y displacement at ith node.
wi - z displacement at ith node.

10/14/08 3D Problems 7
 Tetrahedral Element
4
z,w
3

1
2
y,v

1-2-3 counterclockwise when viewed form 4.

10/14/08 3D Problems 8
Step 2 - Select Displacement
Function
Select Linear Functions:

u( x , y , z ) = a 1 + a 2 x + a 3 y + a 4 z
v( x, y , z ) = a 5 + a 6 x + a 7 y + a 8 z
w( x, y , z ) = a 9 + a10 x + a11 y + a12 z

10/14/08 3D Problems 9
  u1 
 
 v1 
 
 w1 
 
 u2 
 
 v2 
 
w2 
{ d } =  
 u3 
 
 v3 
 
w3 
 
 u4 
 
 v4 
 
 w 4 

10/14/08 3D Problems 10
 1 ( α 1 + β1x + γ 1 y + δ1 z ) u1 + ( α 2 + β 2 x + γ 2 y + δ 2 z ) u 2 + 
u( x , y , z ) =  
6V ( α 3 + β 3 x + γ 3 y + δ 3 z ) u 3 + ( α 4 + β 4 x + γ 4 y + δ 4 z ) u 4 

1 ( α 1 + β 1 x + γ 1 y + δ 1 z ) v 1 + ( α 2 + β 2 x + γ 2 y + δ 2 z ) v 2 + 
v( x, y , z ) =  
6 V ( α 3 + β 3 x + γ 3 y + δ 3 z ) v 3 + ( α 4 + β 4 x + γ 4 y + δ 4 z ) v 4 

1 ( α 1 + β 1 x + γ 1 y + δ 1 z ) w 1 + ( α 2 + β 2 x + γ 2 y + δ 2 z ) w 2 + 
w ( x, y , z ) =  
6 V ( α 3 + β 3 x + γ 3 y + δ 3 z ) w 3 + ( α 4 + β 4 x + γ 4 y + δ 4 z ) w 4 

10/14/08 3D Problems 11
 V = Volume of tetrahedron.

1 x1 y1 z1
1 x2 y2 z2
6V =
1 x3 y3 z3
1 x4 y4 z4
10/14/08 3D Problems 12
 x2 y2 z2 1 y2 z2
α1 = x3 y3 z3 β1 = − 1 y 3 z3
x4 y4 z4 1 y4 z4

1 x2 z2 1 x2 y2
γ1 = 1 x3 z3 δ1 = − 1 x 3 y3
1 x4 z4 1 x4 y4

10/14/08 3D Problems 13
 x1 y1 z1 1 y1 z1
α 2 = − x3 y3 z3 β2 = 1 y 3 z3
x4 y4 z4 1 y4 z4

1 x1 z1 1 x1 y1
γ 2 = − 1 x3 z3 δ2 = 1 x3 y3
1 x4 z4 1 x4 y4
10/14/08 3D Problems 14
 x1 y1 z1 1 y1 z1
α 3 = x2 y2 z2 β3 = − 1 y 2 z2
x4 y4 z4 1 y4 z4

1 x1 z1 1 x1 y1
γ 3 = 1 x2 z2 δ3 = − 1 x2 y2
1 x4 z4 1 x4 y4

10/14/08 3D Problems 15
 x1 y1 z1 1 y1 z1
α4 = − x2 y2 z 2 β4 = 1 y 2 z2
x3 y3 z3 1 y3 z3

1 x1 z1 1 x1 y1
γ 4 = − 1 x2 z2 δ4 = 1 x2 y2
1 x3 z3 1 x3 y3
10/14/08 3D Problems 16
  u1 
v 
 1
 u  N1 0 0 N2 0 0 N3 0 0 N4 0 0  w1 
    
v =  0 N1 0 0 N2 0 0 N3 0 0 N4 0    
w   0 0 N1 0 0 N2 0 0 N3 0 0 N 4   u 4 
    
 v4 
 
w 4 

10/14/08 3D Problems 17
 N1 =
( α 1 + β1 x + γ 1 y + δ 1 z )
6V
N2 =
( α 2 + β2x + γ 2y + δ2z )
6V
N3 =
( α 3 + β3x + γ 3y + δ3z )
6V
N4 =
( α 4 + β4x + γ 4y + δ4z )
6V
10/14/08 3D Problems 18
 Step 3 - Define
Strain/Displacements
and Stress/Strain
Relationships

10/14/08 3D Problems 19
  ∂u 
 ∂x 
 ∂v 
εx   
ε   ∂y 
 y   ∂w 

εz  
 ∂


{ε} = =∂u ∂v z
γxy   + 
γyz  ∂y ∂x 
  ∂v ∂w 
  ∂z + ∂y 
γxz 
 
∂w + ∂u 

∂x ∂z 

10/14/08 3D Problems 20
[ B] = [ B1 B2 B3 B4 ]

10/14/08 3D Problems 21
  N 1, x 0 0 
 0 N 1, y 0  

 0 0 N 1, z 
[ B1 ] =  
N
 1, y N 1, x 0 
 0 N 1, z N 1, y 
 
 N 1,z 0 N 1,x 

10/14/08 3D Problems 22
 β1 0 0
0 γ 0 
 1

1 0 0 δ1 
[ B1 ] =  
6 V  γ 1 β1 0
 0 δ1 γ1 
 
β1 0 δ1 
10/14/08 3D Problems 23
 Stress/Strain
σx  1 − ν ν ν 0 0 0  ε x 
σ   ν 1− ν ν 0 0 0   ε 
 y   y 
σz  E  ν ν 1− ν 0 0 0  ε z 
 =  (1− 2 ν )  
 τ xy  (1 + ν )(1 − 2 ν )  0 0 0 2 0 0   γ xy 
 τ yz   0 0 0 0
(1− 2 ν )
2 0   γ yz 
   (1− 2 ν )   
 τ zx   0 0 0 0 0 2   γ zx 

10/14/08 3D Problems 24
Step 4 - Element Stiffness
T
∫∫∫[ B ] [ D ] [ B ] dV { d} = { f }
V

T
[ k ] = ∫∫∫[ B] [ D] [ B] dV
V
10/14/08 3D Problems 25
[B] and [D] are constant, therefore:

[ k ] = [ B ] [ D] [ B ]
T
V

10/14/08 3D Problems 26
 Body Forces

{fb } = − ∫∫∫ [ N] { X}
T
dV
V

10/14/08 3D Problems 27
 Surface Forces

{fs } = − ∫∫ [ N] { T} dS T

10/14/08 3D Problems 28
 Uniform pressure on surface 1-2-3

{fs } = − ∫∫ [ N] { T} dS
T

p x 
 
 
{fs } = − ∫∫ [ N] T
evaluated on p y  dS
S surface 1, 2 , 3
 
p 
 z
10/14/08 3D Problems 29
 p x 
p 
 y
p z 
 
p x 
p y 
 
S123 p z 
{ fs } =   S123 = Area of surface 123
3 p x 
p y 
 
p z 
0
 
0
0
 

10/14/08 3D Problems 30
 Volume Coordinates
1

4
P

2
y

x 3
10/14/08 3D Problems 31
At a point P, four tetrahedrons can be drawn,
P-2-3-4, P-1-3-4, P-1-2-4, and P-1-2-3.

Let V be the volume of tetrahedron 1-2-3-4.

10/14/08 3D Problems 32
 ξ 1 = V1/V
ξ 2 = V2/V
ξ 3 = V3/V
ξ 4 = V4/V

ξ 1 + ξ 2 + ξ 3+ ξ 4 = 1

10/14/08 3D Problems 33
 1   1 1 1 1   ξ1 
 x   x x x x  ξ 
   1 4  2
 =
2 2
 
y
   y 1 y 2 y 3 y 4
 ξ 3 
 
 z   z 1 z 2 z 3 z 4  ξ 4 
1 1 1 1
x1 x2 x2 x4
6V =
y1 y2 y3 y4
z1 z2 z3 z4
10/14/08 3D Problems 34
 Shape Functions:

ξ 1 = N1
ξ 2 = N2
ξ 3 = N3
ξ 4 = N4

φ = N 1 φ 1 + N2 φ 2 + N 3 φ 3 + N4 φ 4

10/14/08 3D Problems 35
 Integration

k! l! m! n!
∫∫∫ ξ ξ ξ ξ dV = 6V
k l m n
1 2 3 4
V
(3 + k + l + m + n)!

10/14/08 3D Problems 36
 Centroidal Coordinates
4
V
∫∫∫ x y z dV =
r s t
∑
20 i =1
r s t
xi y i z i
xr y s

( if r + s + t = 2 and centroid is at x = y = z = 0)

10/14/08 3D Problems 37
 ξ1 = s
ξ2 = t
ξ 3 = z′
ξ 4 = 1 − s − t − z′
10/14/08 3D Problems 38
 Chain Rule
∂ φ ∂ φ ∂ ξ1 ∂ φ ∂ ξ 2 ∂ φ ∂ ξ 3 ∂ φ ∂ ξ 4
= + + +
∂ x ∂ ξ1 ∂ x ∂ ξ 2 ∂ x ∂ ξ 3 ∂ x ∂ ξ 4 ∂ x
∂ φ ∂ φ ∂ ξ1 ∂ φ ∂ ξ 2 ∂ φ ∂ ξ 3 ∂ φ ∂ ξ 4
= + + +
∂ y ∂ ξ1 ∂ y ∂ ξ 2 ∂ y ∂ ξ 3 ∂ y ∂ ξ 4 ∂ y
∂ φ ∂ φ ∂ ξ1 ∂ φ ∂ ξ 2 ∂ φ ∂ ξ 3 ∂ φ ∂ ξ 4
= + + +
∂ z ∂ ξ1 ∂ z ∂ ξ 2 ∂ z ∂ ξ 3 ∂ z ∂ ξ 4 ∂ z

10/14/08 3D Problems 39
 Chain Rule:

∂f ∂f ∂ x ∂f ∂ y ∂f ∂ z
= + +
∂r ∂ x ∂s ∂ y ∂s ∂ z ∂s
∂f ∂f ∂ x ∂f ∂ y ∂f ∂ z
= + +
∂s ∂ x ∂ t ∂ y ∂ t ∂ z ∂ t
∂f ∂f ∂ x ∂f ∂ y ∂f ∂ z
= + +
∂ t ∂ x ∂ z ′ ∂ y ∂z ′ ∂ z ∂ z ′
10/14/08 3D Problems 40
 ∂f ∂y ∂z ∂x ∂f ∂z ∂x ∂y ∂f
∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s
∂f ∂y ∂z ∂x ∂f ∂z ∂x ∂y ∂f
∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t
∂f ∂y ∂z ∂x ∂f ∂z ∂x ∂y ∂f
∂f ∂ z′ ∂ z′ ∂ z′ ∂f ∂ z′ ∂ z′ ∂ z′ ∂f ∂ z′ ∂ z′ ∂ z′
= = =
∂x ∂x ∂y ∂z ∂x ∂x ∂y ∂z ∂x ∂x ∂y ∂z
∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s
∂x ∂y ∂z ∂x ∂y ∂z ∂x ∂y ∂z
∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t
∂x ∂y ∂z ∂x ∂y ∂z ∂x ∂y ∂z
∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′

10/14/08 3D Problems 41
 Jacobian matrix:
 ∂x ∂y ∂z 
 ∂s ∂s ∂s  

∂ x ∂y ∂z 
[ J] = 

∂t ∂t ∂s 
 ∂x ∂y ∂z 
 
 ∂ z′ ∂ z′ ∂z′ 
10/14/08 3D Problems 42
 Strains in terms of an operator matrix:

 ∂( ) 
 ∂x 0 
 ∂( ) 
 εx   0 
ε   ∂y 
 y  ∂( )   u 
 ε z   
∂z   v 
{ ε} =  = ∂ ( ) ∂( )  
 γ xy    
 γ yz   ∂y ∂x  w 
   ∂( ) ∂( ) 
 γ xz   
 ∂z ∂y 
 ∂( ) ∂( ) 
 ∂z ∂x 
10/14/08 3D Problems 43
 ∂( ) ∂y ∂z ∂x ∂( ) ∂z
∂s ∂s ∂s ∂s ∂s ∂s
∂( ) 1 ∂( ) ∂y ∂z ∂( ) 1 ∂ x ∂( ) ∂z
= =
∂x J ∂t ∂t ∂t ∂y J ∂t ∂t ∂t
∂( ) ∂y ∂z ∂x ∂( ) ∂z
∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′
∂x ∂y ∂( )
∂s ∂s ∂s
∂( ) 1 ∂ x ∂y ∂( )
=
∂z J ∂t ∂t ∂t
∂x ∂y ∂( )
∂ z′ ∂ z′ ∂ z′
10/14/08 3D Problems 44
Hexahedral elements

Linear element
8 corner nodes
Natural Coordinates s , t, z′
Corners at ±1

10/14/08 3D Problems 45
 t

3
7

4
8

s
2
6
1
5
z′

10/14/08 3D Problems 46
 x 8 N i 0 0  x i 
    y 
y  = ∑  0 Ni 0  i 
 z  i =1  0 0 N i   z i 
  

Ni =
( 1 + s s i )( 1 + t t i )( 1 + z′ z′i )
4

10/14/08 3D Problems 47
 Ni =
(1 + s s i )(1 + t t i )(1 + z′ z′i )
4
i =1
s i = −1
t i = −1
z′i = 1

Ni =
(1 − s )(1 − t )(1 + z′)
4

10/14/08 3D Problems 48
 Jacobian matrix:
 ∂x ∂y ∂z 
 ∂s ∂s ∂s  

∂x ∂y ∂z 
[ J] = 

∂t ∂t ∂s 
 ∂x ∂y ∂z 
 
 ∂ z′ ∂ z′ ∂z′ 
10/14/08 3D Problems 49
 ∂f ∂y ∂z ∂x ∂f ∂z ∂x ∂y ∂f
∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s
∂f ∂y ∂z ∂x ∂f ∂z ∂x ∂y ∂f
∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t
∂f ∂y ∂z ∂x ∂f ∂z ∂x ∂y ∂f
∂f ∂ z′ ∂ z′ ∂ z′ ∂f ∂ z′ ∂ z′ ∂ z′ ∂f ∂ z′ ∂ z′ ∂ z′
= = =
∂x ∂x ∂y ∂z ∂x ∂x ∂y ∂z ∂x ∂x ∂y ∂z
∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s ∂s
∂x ∂y ∂z ∂x ∂y ∂z ∂x ∂y ∂z
∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t ∂t
∂x ∂y ∂z ∂x ∂y ∂z ∂x ∂y ∂z
∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′

10/14/08 3D Problems 50
 Strains in terms of an operator matrix:
 ∂( ) 
0  ∂x 
 ∂( ) 
 εx   0 
ε   ∂y 
 y  ∂( )   u 
 ε z   
∂z   v 
{ ε} =  = ∂ ( ) ∂( )  
 γ xy    
 γ yz   ∂y ∂x  w 
   ∂( ) ∂( ) 
 γ xz   
 ∂z ∂y 
 ∂( ) ∂( ) 
 ∂z ∂x 

10/14/08 3D Problems 51
 ∂( ) ∂y ∂z ∂x ∂( ) ∂z
∂s ∂s ∂s ∂s ∂s ∂s
∂( ) 1 ∂( ) ∂y ∂z ∂( ) 1 ∂ x ∂( ) ∂z
= =
∂x J ∂t ∂t ∂t ∂y J ∂t ∂t ∂t
∂( ) ∂y ∂z ∂x ∂( ) ∂z
∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′ ∂ z′
∂x ∂y ∂( )
∂s ∂s ∂s
∂( ) 1 ∂ x ∂y ∂( )
=
∂z J ∂t ∂t ∂t
∂x ∂y ∂( )
∂ z′ ∂ z′ ∂ z′
10/14/08 3D Problems 52
 Gaussian Quadrature can be
performed in three dimensions
in a manner similar to that which
was previously discussed

See Table 12-1

10/14/08 3D Problems 53
 3 20
7
11 15
10 8
17 14
4

2 19
6
12
16
9 13

1
18 5

20-Noded Quadratic Element

Ni =
( 1 + s s i )( 1 + t t i )( 1 + z′ z′i )
(s s + t t i + z′ z′ − 2 )
i
8

10/14/08 3D Problems 55
 Mid-side Nodes (si = 0):

Ni =
( 1 − s )( 1 + t t )( 1 + z′ z′ )
2
i i
4

10/14/08 3D Problems 56
 Mid-side Nodes (ti = 0):

( 1 + s s i ) (1 − t ) ( 1 + z′ z′i )
2
Ni =
4

10/14/08 3D Problems 57
 Mid-side Nodes (z’i = 0):

( 1 + s s i )( 1 + t t i ) (1 − z′ )
2
Ni =
4

10/14/08 3D Problems 58
Stiffness Matrix 60 x 60
3 x 3 x 3 Quadrature Rule.
27 Integration points.
180 + 30 =210 terms to evaluate.

10/14/08 3D Problems 59